Running the Robot

SSH

The easiest way to access the Jetson is with SSH. Make sure you know the username and password for your Jetson.

• ssh username@192.168.55.1 is the default way to SSH through a micro-USB cable
• ssh username@jetsonname can be used if connected to same network

Running Gym2Real

• cd to workspace folder
• colcon build --symlink-install to build packages (only necessary the first time)
• sudo su to start root shell (required for some features like setting real-time priority)
• source install/setup.bash
• export ROS_DOMAIN_ID=1 allows exchange of messages to other PC on the same network with the same ROS_DOMAIN_ID (use your favourite number)
• ros2 launch controller controller.launch.py starts the nodes (controller, IMU driver, motor driver)

Uploading Model

• Place trained model in .onnx format in workspace/cfg
• Modify workspace/cfg/config.yaml to add your controller (if the model has different observation size or action size, modifications will have to be made to workspace/controller/src/controller_node.cpp to handle the changes)

Optional Steps

• sudo crontab -e can be used to add a startup script that runs whenever the Jetson boots